1

/*****************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 ****************************************************************************/

    29

    30

#include <iostream>

    31

#include <iomanip>

    32

using namespace std;

    33

    34

#include "CommandDownload.h"

    35

#include "MasterDevice.h"

    36

    37

/*****************************************************************************/

    38

    39

CommandDownload::CommandDownload():

    40

    SdoCommand("download", "Write an SDO entry to a slave.")

    41

{

    42

}

    43

    44

/*****************************************************************************/

    45

    46

string CommandDownload::helpString(const string &binaryBaseName) const

    47

{

    48

    stringstream str;

    49

    50

    str << binaryBaseName << " " << getName()

    51

        << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl

    52

        << " [OPTIONS] <INDEX> <VALUE>" << endl

    53

        << endl

    54

        << getBriefDescription() << endl

    55

        << endl

    56

        << "This command requires a single slave to be selected." << endl

    57

        << endl

    58

        << "The data type of the SDO entry is taken from the SDO" << endl

    59

        << "dictionary by default. It can be overridden with the" << endl

    60

        << "--type option. If the slave does not support the SDO" << endl

    61

        << "information service or the SDO is not in the dictionary," << endl

    62

        << "the --type option is mandatory." << endl

    63

        << endl

    64

        << "The second call (without <SUBINDEX>) uses the complete" << endl

    65

        << "access method." << endl

    66

        << endl

    67

        << typeInfo()

    68

        << endl

    69

        << "Arguments:" << endl

    70

        << "  INDEX    is the SDO index and must be an unsigned" << endl

    71

        << "           16 bit number." << endl

    72

        << "  SUBINDEX is the SDO entry subindex and must be an" << endl

    73

        << "           unsigned 8 bit number." << endl

    74

        << "  VALUE    is the value to download and must correspond" << endl

    75

        << "           to the SDO entry datatype (see above). Use" << endl

    76

        << "           '-' to read from standard input." << endl

    77

        << endl

    78

        << "Command-specific options:" << endl

    79

        << "  --alias    -a <alias>" << endl

    80

        << "  --position -p <pos>    Slave selection. See the help of" << endl

    81

        << "                         the 'slaves' command." << endl

    82

        << "  --type     -t <type>   SDO entry data type (see above)." << endl

    83

        << endl

    84

        << numericInfo();

    85

    86

    return str.str();

    87

}

    88

    89

/****************************************************************************/

    90

    91

void CommandDownload::execute(const StringVector &args)

    92

{

    93

    stringstream strIndex, err;

    94

    ec_ioctl_slave_sdo_download_t data;

    95

    unsigned int valueIndex;

    96

    const DataType *dataType = NULL;

    97

    SlaveList slaves;

    98

    99

    if (args.size() != 2 && args.size() != 3) {

   100

        err << "'" << getName() << "' takes 2 or 3 arguments!";

   101

        throwInvalidUsageException(err);

   102

    }

   103

    data.complete_access = args.size() == 2;

   104

    valueIndex = data.complete_access ? 1 : 2;

   105

   106

    strIndex << args[0];

   107

    strIndex

   108

        >> resetiosflags(ios::basefield) // guess base from prefix

   109

        >> data.sdo_index;

   110

    if (strIndex.fail()) {

   111

        err << "Invalid SDO index '" << args[0] << "'!";

   112

        throwInvalidUsageException(err);

   113

    }

   114

   115

    if (data.complete_access) {

   116

        data.sdo_entry_subindex = 0;

   117

    } else {

   118

        stringstream strSubIndex;

   119

        unsigned int number;

   120

   121

        strSubIndex << args[1];

   122

        strSubIndex

   123

            >> resetiosflags(ios::basefield) // guess base from prefix

   124

            >> number;

   125

        if (strSubIndex.fail() || number > 0xff) {

   126

            err << "Invalid SDO subindex '" << args[1] << "'!";

   127

            throwInvalidUsageException(err);

   128

        }

   129

        data.sdo_entry_subindex = number;

   130

    }

   131

   132

    MasterDevice m(getSingleMasterIndex());

   133

    m.open(MasterDevice::ReadWrite);

   134

    slaves = selectedSlaves(m);

   135

    if (slaves.size() != 1) {

   136

        throwSingleSlaveRequired(slaves.size());

   137

    }

   138

    data.slave_position = slaves.front().position;

   139

   140

    if (!getDataType().empty()) { // data type specified

   141

        if (!(dataType = findDataType(getDataType()))) {

   142

            err << "Invalid data type '" << getDataType() << "'!";

   143

            throwInvalidUsageException(err);

   144

        }

   145

    } else { // no data type specified: fetch from dictionary

   146

        ec_ioctl_slave_sdo_entry_t entry;

   147

   148

        try {

   149

            m.getSdoEntry(&entry, data.slave_position,

   150

                    data.sdo_index, data.sdo_entry_subindex);

   151

        } catch (MasterDeviceException &e) {

   152

            err << "Failed to determine SDO entry data type. "

   153

                << "Please specify --type.";

   154

            throwCommandException(err);

   155

        }

   156

        if (!(dataType = findDataType(entry.data_type))) {

   157

            err << "PDO entry has unknown data type 0x"

   158

                << hex << setfill('0') << setw(4) << entry.data_type << "!"

   159

                << " Please specify --type.";

   160

            throwCommandException(err);

   161

        }

   162

    }

   163

   164

    if (args[valueIndex] == "-") {

   165

        ostringstream tmp;

   166

   167

        tmp << cin.rdbuf();

   168

        string const &contents = tmp.str();

   169

   170

        if (!contents.size()) {

   171

            err << "Invalid data size " << contents.size() << "! "

   172

                << "Must be non-zero.";

   173

            throwCommandException(err);

   174

        }

   175

        data.data_size = contents.size();

   176

        data.data = new uint8_t[data.data_size + 1];

   177

   178

        try {

   179

            data.data_size = interpretAsType(

   180

                    dataType, contents, data.data, data.data_size);

   181

        } catch (SizeException &e) {

   182

            delete [] data.data;

   183

            throwCommandException(e.what());

   184

        } catch (ios::failure &e) {

   185

            delete [] data.data;

   186

            err << "Invalid value argument '" << args[2]

   187

                << "' for type '" << dataType->name << "'!";

   188

            throwInvalidUsageException(err);

   189

        }

   190

   191

    } else {

   192

        if (dataType->byteSize) {

   193

            data.data_size = dataType->byteSize;

   194

        } else {

   195

            data.data_size = DefaultBufferSize;

   196

        }

   197

   198

        data.data = new uint8_t[data.data_size + 1];

   199

   200

        try {

   201

            data.data_size = interpretAsType(

   202

                    dataType, args[valueIndex], data.data, data.data_size);

   203

        } catch (SizeException &e) {

   204

            delete [] data.data;

   205

            throwCommandException(e.what());

   206

        } catch (ios::failure &e) {

   207

            delete [] data.data;

   208

            err << "Invalid value argument '" << args[2]

   209

                << "' for type '" << dataType->name << "'!";

   210

            throwInvalidUsageException(err);

   211

        }

   212

    }

   213

   214

    try {

   215

        data.data_size = interpretAsType(

   216

                dataType, args[valueIndex], data.data, data.data_size);

   217

    } catch (SizeException &e) {

   218

        delete [] data.data;

   219

        throwCommandException(e.what());

   220

    } catch (ios::failure &e) {

   221

        delete [] data.data;

   222

        err << "Invalid value argument '" << args[2]

   223

            << "' for type '" << dataType->name << "'!";

   224

        throwInvalidUsageException(err);

   225

    }

   226

   227

    try {

   228

        m.sdoDownload(&data);

   229

    } catch (MasterDeviceSdoAbortException &e) {

   230

        delete [] data.data;

   231

        err << "SDO transfer aborted with code 0x"

   232

            << setfill('0') << hex << setw(8) << e.abortCode

   233

            << ": " << abortText(e.abortCode);

   234

        throwCommandException(err);

   235

    } catch(MasterDeviceException &e) {

   236

        delete [] data.data;

   237

        throw e;

   238

    }

   239

   240

    delete [] data.data;

   241

}

   242

   243

/*****************************************************************************/